Modeling and control of autonomous underwater vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller

摘要

This paper focuses on design of a new self-adaptive fuzzy PID controller based on nonlinear MIMO structure for an AUV. Complexity and highly coupled dynamics, time-variance, and difficulty in hydrodynamic modeling and simulation, complicates the AUV modeling process and the design of proper and acceptable controller. In this work, the comprehensive nonlinear model of AUV is derived through kinematics and dynamic equations and then its treatment in open-loop is verified. In proposed controller, the PID parameters are adjusted by Mamdani fuzzy rules. Combined adaptive methods and dual PID controllers can improve solving of the uncertainty challenge in the PID parameters and AUV modeling uncertainty. The simulation results indicate that developed control system is stable, competent, and efficient enough to control the AUV in tracking the two channels of heading and depth with stabilized speed. Obtained results show that the proposed controller is not only robust, but also gives excellent dynamic, stunning steady-state characteristics and robust stability compared with a classically tuned PID controller.